JP2016024707A - Tactile sense presentation device and inner force sense presentation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly present tactile sense and inner force sense when holding a virtual object in a virtual space to be operated and controlled by a virtual hand to an operator, and allow the operator to obtain excellent operability.SOLUTION: An inner force sense presentation system 10 includes: a tactile sense presentation device 60; and an inner force sense presentation device 40. The tactile sense presentation device 60 transmits tactile sense when an object and a hand are displayed on a screen 20a under the control of a computer 20 and the display objects are held by a display hand to a hand 100 of an operator operating the display hand cooperatively with the control of the computer 20 so that the hand 100 can sense the tactile sense. The inner force sense presentation device 40 transmits inner force sense to be reaction force of holding force when the display objects displayed on the screen 20a under the control of the computer 20 is held by the display hand to the hand 100 of the operator operating a virtual hand cooperatively with the control of the computer 20 so that the hand 100 can sense the inner force sense. The operator can simultaneously feel the tactile sense and the inner force sense during the holding in the hand 100.SELECTED DRAWING: Figure 1

Description

  The present invention sensiblely transmits a tactile sensation and a force sensation when a virtual object is gripped by a virtual hand in a three-dimensional VR (Virtual Reality) space to an operator's hand operating the virtual hand. The present invention relates to a tactile sense presentation device and a force / tactile sense presentation system.

  In recent years, due to dramatic progress in computer performance, a virtual object and a hand are drawn in a three-dimensional VR space on the screen, and the operator can easily control the virtual hand to hold the virtual object. . For example, an operator wears an operation device on a finger or the like of his / her hand and performs an operation such that a virtual hand grasps a virtual object with the device.

  At this time, when the virtual hand grips the virtual object with an arbitrary force, the reaction force of the force with which the virtual hand grips the virtual object (force to push back the hand) is transmitted to the operator's hand. The reaction force is force sense. In other words, “force sense” is a sense of force. Furthermore, simultaneously with the force sense, the tactile sensation of the object when the virtual hand grips the virtual object is transmitted to the operator's hand. This tactile sensation is a tactile sense.

  As a device for presenting (transmitting) a tactile sensation and a force sensation to an operator's hand as described above, for example, there is a glove attached to the hand described in Non-Patent Document 1. This glove is a multi-finger operation type force / tactile sensation presentation device that presents tactile sensation and force sensation to an operator, and a small vibrator is incorporated in the fingertip of the glove. This glove expresses a tactile sensation and a force sensation when a virtual hand grips a virtual object with a desired force by vibration of a small vibrator, and transmits this vibration to the fingertip of the operator. In addition, since the glove has a structure in which a small vibrator is incorporated into a fingertip, the glove is small and light and has good operability.

“CyberTouch”, [online], July 01, 2014, [searched July 1, 2014], Internet <URL: http://www.creact.co.jp/jpn/immersion/j_n_vtcybto.htm>

  However, since the glove described in Non-Patent Document 1 only transmits vibration by a small vibrator to an operator's fingertip, it can actually present only vibration sensation. Very inferior. That is, the glove has a low ability to present tactile sensation and force sensation to the operator, and there is a problem that the tactile sensation and force sensation cannot be properly presented to the operator.

  In addition, as a method for presenting tactile sensation and force sensation, a pin-type actuator, an electric stimulation method, or a method using compressed air has been proposed, but these devices are large and inferior in weight and are good like a glove. There is a problem that it is not possible to realize an easy operability.

  The present invention has been made in view of such a background, and can appropriately present tactile sensation and force sensation when a virtual object in a virtual space subject to operation control is gripped by a virtual hand to an operator. It is another object of the present invention to provide a tactile sensation presentation apparatus and a force / tactile sensation presentation system that enable an operator to obtain good operability.

  In order to solve the above-described problem, the haptic presentation device according to claim 1 of the present invention is configured such that the display object displayed on the screen by the control of the arithmetic processing unit that performs the arithmetic and control processing is a display hand that displays the same. In the tactile sensation presentation device that transmits the tactile sensation at the time of grasping to the operator's hand operating the operation of the display hand in cooperation with the control of the arithmetic processing means, the tactile presentation device has a cylindrical shape, A bobbin whose opening is closed and the inside of which is concave, a coil formed by winding a conductive wire around the outer periphery of the bobbin, and a bobbin that is movably disposed inside the concave shape, and has a tip on the opening side of the bobbin And a movable part formed by integrally fixing the pointed member to the magnet, and by the operation of the operator with the bobbin attached so that the opening of the bobbin is in contact with the hand of the operator, The display hand is the display object When gripped, current is supplied to the coil, and the tip of the movable part that moves due to electromagnetic induction generated by the supply protrudes from the opening of the bobbin so that the operator feels the tactile sensation. It is characterized by pressing an operator's hand.

  According to this configuration, when the display hand displayed on the screen grips the display object by the operation of the operator's hand, current is supplied to the coil of the bobbin attached to the operator's hand. This current supply moves the movable part inside the concave shape of the bobbin, and the tip of the movable part presses the operator's hand so that the operator feels a tactile sensation. Therefore, the operator can actually feel a tactile sensation when holding the real object corresponding to the display object when the display hand is made to hold the display object by operating his / her hand.

  In the tactile sense presentation device according to claim 2, the sharp member has a curvature radius of 0 mm to 1.8 mm at a tip of the sharp member, and a current value supplied to the coil is a current of the current value. When the tip of a sharp member having a radius of curvature of 0 mm to 1.8 mm presses the operator's hand due to the movement of the movable portion when supplied to the operator, the operator feels the tactile sensation. It is characterized by being.

  According to this configuration, even when the radius of curvature of the tip of the pointed member is selected within the range of 0 mm to 1.8 mm, the operator can transmit a tactile sensation similar to when a real object corresponding to a virtual object is gripped. it can. Therefore, the radius of curvature of the tip of the pointed member can be determined within a relatively wide range of 0 mm to 1.8 mm.

  The invention according to claim 3 is characterized in that the value of current supplied to the coil decreases as the radius of curvature of the tip of the pointed member decreases.

  According to this configuration, the smaller the radius of curvature of the tip of the pointed member, the easier it is for the tip to bite into the operator's hand, so even when the current is small, the Can provide a tactile sensation. Further, the power consumption can be suppressed by reducing the radius of curvature.

  In the tactile sense presentation device according to claim 4, when the opening of the bobbin faces downward, the movable part has the tip of the pointed member placed in a gravitational state in the operator's hand. The weight is such that the operator does not feel the weight of the movable part.

  According to this configuration, even when the tip of the pointed member is placed on the operator's hand due to gravity, the weight of the movable part is not felt at the time when the tip is placed. For this reason, when the display hand holds the display object by the operation of the operator's hand, it is possible to properly feel the tactile sensation due to the pressure on the tip of the sharp member.

  The haptic presentation device according to claim 5 is characterized in that the weight of the haptic presentation device is less than 2.1 g together with a device for mounting the haptic presentation device on the hand of the operator.

  According to this configuration, when the weight of an object is 2.1 g or more, if the object is placed on a hand, for example, the person feels the weight of the placed object. For this reason, in the tactile sense presentation device of less than 2.1 g together with the brace, a person does not feel the weight. Therefore, if the tactile sense presentation device is mounted on the operator's hand with the brace, the operator can perform the operation of the display hand satisfactorily without feeling the weight of the attachment. For this reason, the operator does not substantially feel the weight when the tactile sensation is not presented by pressing the movable part of the tactile presentation device. Can feel right.

  The tactile sense presentation device according to claim 6 is characterized in that the display object and the display hand are a virtual object and a virtual hand drawn in a virtual reality space by the drawing control of the arithmetic processing means.

  According to this configuration, in a situation where a virtual object and a virtual hand in a three-dimensional virtual reality space are drawn on the screen, the operator operates the movement of the virtual hand with his / her hand and holds the virtual object with the virtual hand. When touched, you can actually feel the tactile sensation when you hold it.

  In the tactile sensation presentation device according to claim 7, the display hand displays a manipulator of a robot at a separated position where the operator is operating his / her hand and the arithmetic processing unit performs operation control via the communication device. The display object is a display of an actual object held by the manipulator.

  According to this configuration, it is assumed that the operator is remotely manipulating the movement of the manipulator while looking at the manipulator at the remote location displayed as the display hand on the screen. At this time, when the operator grips the real object near the manipulator displayed on the screen by the manipulator by remote operation, the operator can actually feel the tactile sensation at the time of gripping.

  The force / tactile sense presentation system according to claim 8 is displayed on the screen by the control of the tactile sense presentation device according to any one of claims 1 to 7 and the arithmetic processing unit that controls the operation of the touch sense presentation device. A sense of force that is a reaction force of a gripping force when the display object is gripped by the display hand can be sensed by an operator's hand that operates the display hand in cooperation with the control of the arithmetic processing means. And a force / tactile sensation presentation device for transmitting to the device.

  According to this configuration, when the display hand displayed on the screen strongly grips the display object by the operation of the operator's hand, a tactile sensation at the time of gripping and a force sensation that is a reaction force of the gripping force are generated. , Transmitted to the hand being operated by the operator. As a result, when the operator performs an operation of strongly holding the display object by the display hand, the operator can feel the tactile sensation and the force sensation of the holding at the same time.

  In the force / tactile sense presentation system according to claim 9, the force sense presentation device includes a plurality of motors controlled to rotate by the arithmetic processing unit according to the operation, and the motor according to forward or reverse rotation of the motor. A thread that is attached so that its length expands and contracts, and a thread connection part to which a thread extending from at least one of the motors is connected. The thread connection part and the tactile sense presentation device include: The thread is attached to the operator's hand via one appliance, and the arithmetic processing means is configured to attach the thread that is attached to the operator's hand when the display object is gripped by the display hand. The position of the operator's hand is determined by measuring the lengths of a plurality of threads bundled at the connecting portion, and the force of the motor required to transmit the force sense to the hand at this position by pulling with the thread. Generate information to perform rotation control, and this generated Distribution In rotates the motor, the force sense is characterized by pulling the operator's hand with the yarn so as to be transmitted to the hand of the operator.

  According to this configuration, when the operator's hand performs an operation so that the display hand displayed on the screen strongly grips the display object, the thread of the force sense presentation device reacts with the gripping force. Pull the operator's hand so that the force sense is transmitted. As a result, the operator can feel a force sense that is a reaction force of the gripping force.

  In the force / tactile sense presentation system according to claim 10, the total weight of the tactile sense presentation device and the thread connection portion is combined with a device for mounting both the touch sense presentation device and the thread connection portion on the operator's hand. , Less than 2.1 g.

  According to this configuration, the operator can easily feel the tactile sensation and the force sensation, can feel the tactile sensation and the force sensation appropriately, and can obtain good operability.

  According to the present invention, tactile sensation and force sensation in the case where a virtual object in a virtual space to be operated and controlled is grasped with a virtual hand can be appropriately presented to the operator, and the operator can have good operability. A tactile sensation presentation apparatus and a force haptic presentation system that can be obtained can be provided.

It is a block diagram which shows the structure of the force tactile sense presentation system which concerns on embodiment of this invention. It is a perspective view which shows the structure of the force sense presentation apparatus of the force tactile sense presentation system of this embodiment. FIG. 3 is an enlarged view of an operator's hand shown in FIG. 2. FIG. 3 is a cross-sectional view of the tactile sense presentation device shown in FIG. 3 taken along line A1-A1, in which (a) is a configuration diagram in which the movable part is placed in a non-energized state, FIG. It is a partial cross section perspective view of the tactile sense presentation device of this embodiment. It is a 1st flowchart for demonstrating the tactile sense and force sense presentation operation | movement by the force tactile sense presentation system of this embodiment. It is a 2nd flowchart for demonstrating the tactile sense and force sense presentation operation | movement by the force tactile sense presentation system of this embodiment. The virtual hand and virtual object in the three-dimensional VR space displayed on the computer screen are shown, (a) is a state diagram in which the virtual hand is separated from the virtual object, and (b) is a state diagram in which the virtual hand is holding the virtual object. (C) is a state diagram in which the virtual hand strongly holds the virtual object. It is a figure which shows the structure of the robot operation system which concerns on the application example using the force tactile sense presentation system of embodiment of this invention. A state in which the robot grips the rubber ball with the finger of the hand displayed on the computer screen, (a) is a state diagram in which the finger of the hand grips the rubber ball, and (b) is a state in which the finger of the hand holds the rubber ball. It is a state figure grasped strongly.

Embodiments of the present invention will be described below with reference to the drawings.
<Configuration of Embodiment>
FIG. 1 is a block diagram showing a configuration of a force / tactile sense presentation system according to an embodiment of the present invention.
The force / tactile sensation presentation system 10 illustrated in FIG. 1 is configured such that an operator performs operation control with a hand to hold a virtual object (display object) drawn in a three-dimensional VR space on a computer screen with a virtual hand (display hand). When a virtual hand is gripped by a virtual hand, the tactile sensation of the virtual hand touching the virtual object and the reaction force of the gripping force are transmitted (presented) to the operator's hand as tactile sensations and force sensations. is there.
The force / tactile sense presentation system 10 includes a computer (arithmetic processing means) 20, a force sense controller 30, a force sense presenting device (Haptic Interface) 40, a tactile sense controller 50, and a tactile sense presenting device 60. Configured.

The computer 20 draws a three-dimensional virtual object and a virtual hand on the screen 20a in accordance with an operation by the operator's hand 100 wearing the force sense presentation device 40 and the tactile sense presentation device 60 on each fingertip. The movement control such as the virtual hand holding the virtual object is performed.
In addition, the computer 20 outputs a tactile sensation information signal for transmitting a tactile sensation when the virtual hand grasps the virtual object to the hand 100 by the tactile sensation presentation device 60 to the tactile controller 50. Further, the computer 20 outputs a force sense presentation information signal for transmitting the reaction force of the gripping force to the hand 100 by the force sense presentation device 40 to the force sense controller 30.

The tactile controller 50 converts a tactile presentation information signal into a tactile presentation signal (electric signal) based on PWM (Pulse Width Modulation) and outputs the tactile presentation signal to the tactile presentation device 60.
The tactile sense presentation device 60 transmits (presents) a tactile sense corresponding to the tactile sense presentation signal to the hand 100.

The haptic controller 30 outputs a haptic presentation signal (electric signal) by PWM as a haptic presentation information signal to the haptic presentation device 40.
The force sense presentation device 40 transmits (presents) a force sense corresponding to the force sense presentation signal to the hand 100.
Note that the method of converting the tactile sense presentation information or force sense presentation information signal into an electrical signal may be another modulation method such as PDM (Pulse Density Modulation).

  FIG. 2 shows the structure of the force / tactile sense presentation system 10 in which the computer 20, the force sense controller 30, the force sense presentation device 40, the tactile sense controller 50, and the tactile sense presentation device 60 are combined.

  As shown in FIG. 2, the force sense presentation device 40 includes a frame 41 having a substantially rectangular parallelepiped frame shape, 24 motor units 42 a to 42 x (also simply referred to as motor units 42) fixed to the frame 41, A thread 43 wound around a fixed roller (not shown) of the shaft of the motor section 42 and five thread connection sections 44 that bind the four threads 43 together and connect them to each fingertip of the hand 100 are provided. Configured. In addition, the approximate rectangular parallelepiped frame shape of the frame 41 is a shape in which six columns are combined in a rectangular parallelepiped shape, and there is no front vertical column among the four vertical columns. Hereinafter, the thread 43 is expressed as being wound around the shaft of the motor unit 42 (the fixed roller is omitted).

  The force sense controller 30 is attached to the upper frame portion 41J of the frame 41. The frame 41 has a square frame cross section and is hollow, and the wires of the motor parts 42a to 42x are inserted into the hollow. The inserted wiring is drawn out from the opening provided in the upper frame portion 41J, as indicated by reference numeral 30a, and is connected to the signal output side of the force sense controller 30. In addition, although one wiring is shown by the code | symbol 30a on drawing for easy understanding, the wiring of each motor part 42a-42x is pulled out and connected to the force controller 30 in fact.

  The signal input side of the force sense controller 30 is connected to the computer 20 by a cable wiring 30b for transmitting and receiving signals to and from the motor units 42a to 42x. Further, the signal input side of the tactile controller 50 is connected to the computer 20 by a cable wiring 50a.

  The signal output side of the tactile controller 50 is connected to a connector 52 attached to the wrist of the hand 100 with a rubber band 51 by a cable wiring 50b. Furthermore, wirings 50 c, 50 d, 50 e, 50 f and 50 g obtained by branching the cable wiring 50 b at the connector 52 are connected to the tactile sense presentation device 60 at each fingertip of the hand 100. 2 shows a state in which the tactile controller 50 is arranged in the vicinity of the frame 41, but it may be fixed on the frame 41.

  Further, in FIG. 2, in order to make the configuration easy to understand, four threads 43 extending from four motor sections 42 a, 42 g, 42 i, 42 n at different positions, one thread connecting section 44 at the fingertip of the index finger 100 b. And a state where the rubber band 45 is attached with a rubber band (orthmus). Accordingly, although not shown in the figure, the four threads 43 other than the index finger 100b are also bundled with the rubber band 45 on the fingertips by the four thread 43 as in the index finger 100b. It is attached. In order to make the state of the index finger 100b in FIG. 2 easier to understand, an enlarged view is shown in FIG.

  As shown in FIG. 3, in the rubber band 45, the thread connecting portion 44 is fixed to the nail side of the fingertip of the index finger 100b, and the tactile sense presentation device 60 is fixed to the belly side of the fingertip. More specifically, as shown in FIG. 4A which is an A1-A1 cross-sectional view of FIG. 3, both ends of the rubber band 45 are fixed to the tactile sense presentation device 60 so that the rubber band 45 becomes an annular shape. A thread connecting portion 44 is fixed to the position of the outer peripheral surface of the rubber band 45 facing the.

  The thread 43 wound around the shaft of each motor unit 42 shown in FIG. 2 is a thread that is difficult to cut by a material such as nylon or high-molecular polyethylene, and is shortened by winding the thread 43 by the normal rotation of the motor unit 42. It is pulled out by reversing and becomes longer. The rotation control of each motor unit 42 will be described later.

  Of the 24 motor units 42, 16 motor units 42a to 42p are fixed to the upper frame portion 41J of the upper rectangle of the frame 41 having a rectangular parallelepiped frame shape, and the remaining 8 motor units 42q to 42x are It is fixed to a rectangular lower frame portion 41K facing the upper frame portion 41J. Four of the 24 are spare motor units 42. Four motors 42 a to 42 x are connected to each fingertip by being bundled into one (one point), and a set of four arranged at different positions on the top, bottom, left and right of the frame 41 is a set. Four threads 43 extending from the motor section 42 are connected to each fingertip together by a thread connection section 44.

  The number of the threads 43 connected to the thread connecting portion 44 may be 1 to 3 per finger (or at least one). In this case, the number of the motor portions 42 is at least 5 to 15 pieces. It becomes. On the contrary, more than 24 motor units 42 may be provided in consideration of spares and the like.

  Since the positions of the motor units 42 in each set are determined in advance, the positions of the motor units 42 are registered in the computer 20 in advance. For example, the length of the four yarns 43 bundled at one point on the fingertip of the index finger 100b from a set of motor portions 42a, 42g, 42i, and 42n necessary for bundling the four yarns 43 on one finger. By measuring the length with the computer 20 (described later), it is possible to calculate the three-dimensional coordinate position (also simply referred to as “position”) of the index finger. This calculation is similarly performed for the other fingers. The computer 20 performs control to move the virtual hand on the screen 20a according to the calculated three-dimensional coordinate position of each finger.

  When the computer 20 measures the length of the thread 43, information necessary for measuring the length of the thread 43 such as the rotation speed and the rotation angle, which is motor information of the motor unit 42, from the force sense presentation device 40, Obtained via the haptic controller 30. The computer 20 measures the length of the yarn 43 according to the acquired information.

  In addition, the position of each finger of the operator's hand 100 and the position of each finger of the virtual hand 72 are associated with the computer 20, and further, the position of the virtual hand and the position of the virtual object are also associated. . Accordingly, the computer 20 can perform drawing control of the movement of the virtual hand 72 in accordance with the movement of each finger of the operator's hand 100.

  Furthermore, when the virtual hand grips the virtual object in accordance with the operation operation of the operator's hand 100, the computer 20 detects this gripping. In this detection, as described above, the three-dimensional coordinate position of each fingertip of the operator's hand 100 is obtained, and it is determined whether or not this position is the position where the virtual hand grips the virtual object on the screen 20a. Do.

  Further, the computer 20 generates a signal of tactile sensation information that presents a tactile sensation according to the tactile sensation when the virtual hand grasps the virtual object at each fingertip of the operator. This generation will be described later. The tactile presentation information signal is converted into an electrical signal by PWM by the tactile controller 50 and output to the tactile presentation device 60.

  The tactile sense presentation device 60 will be described with reference to FIG. FIG. 5 is a partial cross-sectional perspective view of the tactile sense presentation device 60. The tactile sense presentation device 60 includes a bobbin 61, a movable part 62, and a coil 63.

  The bobbin 61 is formed in a top hat shape with a hard and lightweight material such as plastic or resin. FIG. 5 shows a state in which the top hat is arranged upside down. A first annular plate 61b is fixed to the upper end of the opening 61a1 of the top-shaped cylindrical portion 61a in this state, and the cylindrical portion 61b is spaced apart from the first annular plate 61b in the vertical direction of the cylindrical portion 61a. A second annular plate 61c is fixed to the outer periphery of the portion 61a. The opening 61b1 of the first annular plate 61b has a smaller diameter than the opening 61a1 of the cylindrical portion 61a, and protrudes in a circular shape toward the center of the opening 61a1 of the cylindrical portion 61a. The opening 61a1 below the cylindrical portion 61a is closed with a lid 61d {see FIG. 4 (a)}.

  A movable portion 62 is accommodated in a columnar (concave) cavity of the cylindrical portion 61a closed by the lid 61d so as to be movable up and down. The movable portion 62 is formed by fixing a conical pointed member 62b to the end surface of the cylindrical magnet 62a with the tip directed toward the opening 61b1. The magnet 62a is a magnet made of a high magnetic material such as neodymium. The pointed member 62b is formed of a hard and lightweight material such as plastic or resin. In addition, it is preferable to adapt the material of the pointed member 62b according to the tactile sensation given to the operator.

The vertical center axis in the cavity of the cylindrical portion 61a and the vertical center axis of the movable portion 62 are coincident (or substantially coincident), and the movable portions 62 move when the central axes coincide with each other. It is made to do.
In the gap between the first annular plate 61b and the second annular plate 61c, a coil 63 that is wound around the coil conducting wire (conducting wire) in an annular shape is disposed.

  As shown in FIG. 4A, when the coil 63 is in a non-energized state and the movable part 62 is placed in a gravity state on the inner bottom surface of the bobbin 61, a predetermined current is supplied to the coil 63 (energized). State). In this case, as shown in FIG. 4B, due to the electromagnetic induction action, the movable portion 62 is moved upward by electromagnetic force, and the tip of the pointed member 62b protrudes from the opening 61b1 to the outside of the bobbin 61, so that the operator Presses the fingertip of the index finger 100b so as to feel a sense of touch.

  Here, if the thickness of the coil conducting wire of the coil 63 is too large, the number of windings on the bobbin 61 is reduced and the electromagnetic induction effect is lowered. If too thin, the electromagnetic induction effect is increased, but high heat is generated. There is a possibility that problems such as melting of the bobbin 61 may occur due to this high heat. Therefore, the thickness of the coil conducting wire is such that the electromagnetic force that allows the movable portion 62 to move as shown in FIG. 4 (b) described above is generated, and that heat generation that does not cause problems such as melting of the bobbin 61 is sufficient. Say it.

  For example, the diameter of the coil conductor is 0.16 mm, the coil conductor is wound around the bobbin 61 40 times to form the coil 63, and a current of 0.8 A is passed through the coil 63. At this time, the force with which the tip of the movable part 62 moved by electromagnetic force presses the skin of the operator's fingertip is 120 mN. By this pressing, the operator feels a tactile sensation when holding a predetermined object with his / her finger. However, in this case, since the pointed member 62b of the movable portion 62 is conical, the tip has a radius of curvature of approximately 0 mm (pointed like a needle). Note that the curvature radius of approximately 0 mm indicates that the curvature radius is as close as possible to “0” or becomes “0”, and is hereinafter referred to as a curvature radius R = 0 mm.

  When the current value I is about 0.8 A and the radius of curvature R is 0 mm to 1.8 mm, the operator is given an appropriate tactile sensation when a predetermined object is grasped, and the radius of curvature R = ∞ (infinity) It has been experimentally obtained that the closer it is to), the less tactile sensation is given. Therefore, as for the relationship between the curvature radius R of the tip of the pointed member 62b and the current value I, the smaller the curvature radius R, the smaller the current value I can be. In other words, the smaller the radius of curvature R is, the smaller the current I can be, the more appropriate tactile sensation can be given to the operator when a predetermined object is grasped.

  Here, since the curvature radius R of the tip of the sharp member 62b and the current value I flowing through the coil 63 have the relationship as described above, the curvature radius R of the tip of the sharp member 62b corresponds to various virtual objects. The current value I is determined in advance according to the actual object. For example, when the virtual object is a rubber lump, a sharp member 62b having a radius of curvature R = 0 mm is applied, and at this time, the current value I = 0.8 A is determined.

  Various real objects corresponding to the virtual object held by such a virtual hand, the radius of curvature R of the tip of the pointed member 62b, and the current value I flowing through the coil 63 are read from a ROM (Read Only) (not shown) of the computer 20. Each data is associated with a data table (not shown) stored in a storage device such as a memory or HDD (hard disk drive).

  For example, it is assumed that a rubber lump, a radius of curvature R = 0 mm, and a current value I = 0.8 A are converted into data and associated in the data table. In this case, it is assumed that the tip member 62b has a tip with a curvature radius R = 0 mm.

  When the computer 20 detects that the virtual hand has grasped the virtual object corresponding to the rubber lump, the current value I = 0.8 A in which the rubber lump and the curvature radius R = 0 mm are associated from the data table. And a tactile sensation presentation information signal for causing a current of 0.8 A to flow through the coil 63 is generated. The tactile sense presentation information signal is converted into an electric signal by PWM by the tactile sense controller 50 and output to the tactile sense presentation device 60, and a current is supplied to the coil 63. As a result, the tip of the pointed member 62b of the movable portion 62 protrudes from the opening 61b1 to the outside of the bobbin 61 and presses the fingertip of the index finger 100b so that the operator feels a tactile sensation.

  Next, as shown in FIG. 4A, when the lid 61d of the bobbin 61 is positioned below, the movable part 62 is placed on the inner bottom surface of the bobbin 61 by gravity if the coil 63 is in a non-energized state. It becomes a state. However, when the lid 61d of the bobbin 61 is positioned upward like the thumb 100a shown in FIG. 3, the tip of the movable part 62 is placed on the belly of the thumb 100a by gravity if the coil 63 is in a non-energized state. It becomes a state.

  In this case, the weight of the movable portion 62 is determined so that the operator does not feel the weight because the operator feels the weight as a tactile sensation. In the present embodiment, when the curvature radius R at the tip is 0 mm, the weight of the movable portion 62 is set to 0.15 g so as not to feel the weight. Whether the operator feels the weight of the movable part 62 due to gravity depends on the curvature radius R of the tip in addition to the weight. Therefore, in consideration of the weight of the movable portion 62 and the curvature radius R of the tip, it is necessary for the operator to make the movable portion 62 a weight that does not feel the weight when the operator places it by gravity as described above.

Moreover, when the tactile sense presentation device 60 is attached to the fingertip, the weight that a person feels weight is 2.1 g or more on average. For this reason, in this embodiment, the weight of the tactile sense presentation device 60 is less than 2.1 g.
The various numerical examples described so far suggest that the tactile sensation and the haptic sensation can be satisfactorily presented to the operator if the force / tactile sensation presentation system 10 is designed with at least the numerical values.

  The tactile sense presentation device 60 configured as described above transmits a tactile sense to the fingertip as follows. First, the computer 20 shown in FIG. 2 calculates the three-dimensional coordinate position of each fingertip of the operator using information for measuring the length of the thread 43 obtained from the force sense presentation device 40. When the computer 20 detects from the calculated three-dimensional coordinate position that the virtual hand has grasped the virtual object, the computer 20 generates tactile presentation information for transmitting a tactile sense of grasping the virtual object to each fingertip of the operator. To the tactile controller 50.

  The tactile controller 50 converts the tactile presentation information signal into a tactile presentation signal by PWM and outputs it to the tactile presentation device 60. Then, the tactile sense presentation device 60 causes a current to flow through the coil 63 in response to the tactile sense presentation signal. Due to the electromagnetic induction action by this current, the movable portion 62 moves upward as shown in FIG. 4B, the tip of the sharp member 62b presses the fingertip of the index finger 100b, and a tactile sensation corresponding to the tactile sensation is provided. To communicate.

  Next, the force sense presentation device 40 shown in FIG. 2 transmits the reaction force transmitted to the fingertip when the virtual hand grips the virtual object to the fingertip of the operator's hand 100 by pulling the thread 43. The reaction force is received from the virtual object while the virtual hand strongly holds the virtual object. For this reason, the computer 20 stores data such as the elastic coefficient and internal pressure of the real object corresponding to the virtual object in the storage device, and the amount of deformation of the virtual object when the virtual hand grips the virtual object is elastic. Find the reaction force using the coefficient.

  First, when the computer 20 detects that the above-mentioned virtual hand strongly holds the virtual object, the three-dimensional coordinate position of each fingertip of the operator's hand 100 is obtained as described above, and this position is displayed on the screen 20a. Correlate the position of the virtual hand. That is, the computer 20 obtains the relative position between the virtual hand and the virtual object when each fingertip of the virtual hand bites into the virtual object while the virtual hand strongly holds the virtual object.

  For example, when the position of the surface of the virtual object is “0”, the position of the finger of the virtual hand is also “0” at the moment when the virtual hand grips the virtual object. The position “0” is assumed to be a reference position on the surface of the virtual object. When each fingertip of the virtual hand bites into the virtual object, the position of the fingertip of the virtual hand is a position biting from the surface of the virtual object like “−2” with respect to the reference position “0”. As described above, “0” or “−2” of the position of the finger of the virtual hand with respect to the reference position “0” on the surface of the virtual object is set as a relative position.

  Further, the computer 20 obtains a deformation amount of the virtual object according to the relative position, and obtains a reaction force using an elastic coefficient for the deformation amount. At this time, the relative position, the deformation amount of the virtual object, and the reaction force according to the deformation amount may be associated with each other in advance and tabulated in the storage device.

  The computer 20 calculates force sense presentation information for transmitting the reaction force obtained above to each fingertip of the operator by pulling it with the thread 43 as the rotational torque (simply also referred to as torque) of each motor unit 42. . The computer 20 outputs the calculated tactile sense presentation information to the force sense controller 30.

  The haptic controller 30 converts the haptic presentation information signal into a haptic presentation signal (electrical signal) by PWM and outputs it to the haptic presentation device 40. Then, the force sense presentation device 40 operates the force sense corresponding to the reaction force by pulling the fingertip with the thread 43 by rotating the predetermined motor unit 42 forward or reverse with a necessary torque according to the force sense presentation signal. Communicate to the fingertips of the person.

<Operation of Embodiment>
Next, a tactile sense and force sense presenting operation by the force / tactile sense presenting system 10 according to the present embodiment will be described with reference to flowcharts shown in FIGS. 6 and 7.
In step S1 shown in FIG. 6, under the control of the computer 20 shown in FIG. 2, as shown in FIG. 8A, a rubber ball 71 as a virtual object in the three-dimensional VR space and a virtual hand are displayed on the screen 20a. 72 is displayed in a separated state. However, it is assumed that the rubber ball 71 has an egg shape and is solid with a rubber member filled therein.

  Next, in step S2, the thread connecting portion 44 and the tactile sense presentation device 60 of the force sense presentation device 40 shown in FIG. It is assumed that the operation is performed so that the virtual hand 72 shown in FIG. At this time, it is assumed that the virtual hand 72 is gripped so that the rubber ball 71 is not recessed on the naked eye.

  Next, in step S3, the computer 20 obtains information such as motor information necessary for measuring the length of each thread 43 (see FIG. 2) connected to the hand 100 of the operator who performs the gripping operation in step S2. Obtained from the force sense presentation device 40 via the force sense controller 30. The computer 20 measures the length of the thread 43 according to the acquired information, and calculates and obtains the three-dimensional coordinate position of each fingertip.

  Furthermore, in step S4, the computer 20 performs drawing control so that the virtual hand 72 performs an operation of gripping the rubber ball 71 in accordance with the three-dimensional coordinate position of each fingertip of the operator obtained in step S3.

  In step S <b> 5, when the computer 20 detects that the virtual hand 72 has reached the position where the surface of the rubber ball 71 is gripped, the computer 20 obtains tactile sensation presentation information for transmitting the grip haptic to the operator. This tactile sensation presentation information is information for allowing a current of, for example, 0.8 A to flow through the coil 63 of the movable part 62 of the haptic presentation device 60. The tactile presentation information signal is output from the computer 20 to the tactile controller 50.

  In step S <b> 6, the tactile controller 50 converts the tactile presentation information signal into a tactile presentation signal by PWM and outputs the tactile presentation information signal to the tactile presentation device 60.

  In step S7, a current is supplied to the coil 63 of the haptic presentation device 60 in accordance with the haptic presentation signal.

  Due to the electromagnetic induction action corresponding to the current supply, in step S8, the movable portion 62 of the tactile sense presentation device 60 moves upward as shown in FIG. 4B, and the tip of the pointed member 62b is moved to each finger {FIG. In b), only the index finger 100b is displayed} is pressed. By this pressing, a tactile sensation corresponding to the calculated tactile sensation is transmitted to each fingertip of the operator. Thus, when the virtual hand 72 grips the rubber ball 71 on the screen 20a, the operator feels the grip feeling of each finger of the hand 100.

  Next, in step S9 shown in FIG. 7, the virtual hand 72 holding the rubber ball 71 shown in FIG. 8B by the operator's hand 100 moves the rubber ball 71 as shown in FIG. 8C. It is assumed that the operation is performed so as to hold it more strongly. In this case, the virtual hand 72 holds the rubber ball 71 so as to be recessed.

  At this time, in step S10, the computer 20 obtains information such as motor information necessary for measuring the length of each thread 43 that changes every moment according to the change of each fingertip of the hand 100 of the operator. Obtained from the presentation device 40 via the force sense controller 30. The computer 20 measures the length of the thread 43 according to the acquired information, and calculates and obtains the three-dimensional coordinate position of each fingertip of the operator that changes from time to time.

  Furthermore, in step S11, the computer 20 performs drawing control so that the virtual hand 72 performs an operation of strongly gripping the rubber ball 71 according to the three-dimensional coordinate position of each fingertip of the operator calculated in step S10. .

By this control, each finger of the virtual hand 72 grips the rubber ball 71 gradually and strongly, each fingertip gradually sinks into the rubber ball 71, and the position of each fingertip of the virtual hand 72 changes from moment to moment. In response to this change, each fingertip of the virtual hand 72 receives a reaction force from the rubber ball 71.
Therefore, in step S <b> 12, the computer 20 obtains the relative position of the fingertip of the virtual hand 72 that bites into the rubber ball 71 with respect to the reference surface position of the rubber ball 71. Then, the computer 20 obtains a reaction force by using the elastic coefficient of the rubber ball 71 for the deformation amount of the virtual object according to the relative position.

  Next, in step S13, the computer 20 obtains the reaction force obtained in step S12 as the torque of each motor unit 42 necessary for transmitting the reaction force by pulling it with the thread 43 to each fingertip of the operator. This torque information is output to the force sense controller 30 as force sense presentation information.

  In step S <b> 14, the haptic controller 30 converts the haptic presentation information signal into a haptic presentation signal by PWM and outputs the haptic presentation signal 40 to the haptic presentation device 40.

  In step S15, the force sense presentation device 40 pulls each fingertip of the operator with the thread 43 by rotating the predetermined motor unit 42 forward or reverse with a necessary torque in response to the force sense presentation signal. A force sense corresponding to the force is transmitted to the fingertip. Thereby, the operator feels the reaction force when the virtual hand 72 strongly holds the rubber ball 71 on the screen 20 a at each fingertip of the hand 100. At this time, as described in steps S2 to S8 above, it is possible to feel the tactile sensation when gripping strongly.

<Effect of embodiment>
As described above, in the haptic presentation device 60 according to the present embodiment, the object 71 and the hand 72 (FIG. 8) are displayed on the screen 20 a by the control of the computer 20 that performs calculation and control processing, as shown in FIG. 1. The tactile sensation when the virtual object 72 as the display object is gripped by the virtual hand 72 as the display hand is detected by the operator's hand 100 operating the operation of the virtual hand 72 in cooperation with the control of the computer 20. It communicates as possible.

  As shown in FIG. 5, the tactile sense presentation device 60 has a cylindrical shape, a bobbin 61 whose one end is closed by a lid 61 d and has a concave inside, and a coil conductor wire on the outer periphery of the bobbin 61. A coil 63 that is wound, and a movable portion 62 that is movably disposed inside the concave shape of the bobbin 61 and that has a pointed member 62b that is pointed toward the opening side of the bobbin 61 and is integrally fixed to the magnet 62a. It is in the composition provided with. In this configuration, a virtual hand 72 as a display hand is a virtual object as a display object by the operation of the operator with the bobbin 61 attached so that the opening 61b1 of the bobbin 61 is in contact with the hand 100 of the operator. When gripping 71, current is supplied to the coil 63. The movable portion 62 is moved by the electromagnetic induction effect generated by the current supply. And the front-end | tip of the movable part 62 protruded from opening 61b1 of the bobbin 61, and the operator's hand 100 was pressed so that an operator might feel a tactile sense.

  As a result, when the virtual hand 72 displayed on the screen 20a grips the virtual object 71 by the operation of the operator's hand 100, current is supplied to the coil 63 of the bobbin 61 attached to the operator's hand 100. The With this current supply, the movable portion 62 inside the concave shape of the bobbin 61 moves, and the tip of the movable portion 62 presses the operator's hand 100 so that the operator feels a tactile sensation. Therefore, the operator can actually feel a tactile sensation when holding the real object corresponding to the virtual object 71 when the virtual hand 72 is held by the virtual hand 72 by the operation of his / her hand.

  The pointed member 62b has a radius of curvature of 0 mm to 1.8 mm at the tip, and the current value I supplied to the coil 63 is the movable part 62 when the current of the current value I is supplied to the coil 63. Thus, when the tip of the sharp member 62b having a curvature radius of 0 mm to 1.8 mm presses the operator's hand, the operator feels a tactile sensation.

  As a result, even if the radius of curvature of the tip of the pointed member 62b is selected within the range of 0 mm to 1.8 mm, it is possible to transmit the tactile sensation close to when the real object corresponding to the virtual object 71 is held to the operator. . Therefore, the radius of curvature of the tip of the pointed member 62b can be determined within a relatively wide range of 0 mm to 1.8 mm.

  Further, the current value I supplied to the coil 63 is made smaller as the radius of curvature R at the tip of the pointed member 62b becomes smaller.

  As a result, the smaller the radius of curvature R of the tip of the sharp member 62b, the easier it is for the tip to bite into the hand of the operator. Can provide a tactile sensation. Moreover, the curvature radius R can be made small and the power consumption of the tactile sense presentation device 60 can be suppressed.

  Further, when the opening of the bobbin 61 faces downward, the movable portion 62 is placed on the operator's hand 100 by gravity when the tip of the pointed member 62b is placed on the operator's hand 100. The weight was not felt.

  Thus, even when the tip of the pointed member 62b is placed in the operator's hand 100 due to gravity, the weight of the movable portion 62 is not felt at the time of the placement. For this reason, when the virtual hand 72 grips the virtual object 71 by the operation of the operator's hand 100, it is possible to appropriately feel the tactile sensation due to the pressing at the tip of the sharp member 62b.

  In addition, the weight of the tactile presentation device 60 was set to less than 2.1 g together with the rubber band 45 as an appliance for mounting the tactile presentation device 60 on the operator's hand 100.

  As a result, the following effects can be obtained. When the weight of an object is 2.1 g or more, if the object is placed on a hand, for example, the person feels the weight of the placed object. For this reason, in the tactile sense presentation device 60 of less than 2.1 g together with the rubber band 45, a person does not feel the weight. Therefore, if the tactile sense presentation device 60 of less than 2.1 g is attached to the operator's hand 100 with the rubber band 45, the operator can operate the virtual hand 72 satisfactorily without feeling the weight of the attachment. be able to. For this reason, since the operator does not substantially feel the weight when the tactile sensation is not presented by the pressing of the movable part 62 of the tactile sense presentation device 60, the operator can easily feel the tactile sense when the tactile sensation is presented. , You can feel the tactile sense properly.

  Next, the force / tactile sense presentation system 10 according to the present embodiment includes the tactile sense presentation device 60 and the force sense presentation device 40. The force sense presentation device 40 generates a force sense that is a reaction force of the gripping force when the virtual object 71 displayed on the screen 20 a is gripped by the virtual hand 72 under the control of the computer 20 that controls the operation of the tactile sense presentation device 60. Then, the virtual hand 72 is transmitted to the operator's hand 100 operating the computer 20 in a controllable manner.

  The features of the force / tactile sense presentation system 10 will be described. The force sense presentation device 40 has a motor unit 42 as a plurality of motors whose rotation is controlled by the computer 20 according to an operation, and the motor unit 42 expands and contracts in length according to normal rotation or reverse rotation of the motor unit 42. The thread 43 attached in this way and the thread 43 extending from at least one motor part 42 are connected, or a plurality of threads 43 extending from at least two motor parts 42 are bundled together. And a yarn connecting portion 44 to be connected. The thread connection unit 44 and the tactile sense presentation device 60 are attached to the operator's hand 100 via one rubber band 45, and the computer 20 operates when the virtual object 71 is gripped by the virtual hand 72. Measuring the length of one or a plurality of yarns 43 connected to the yarn connecting portion 44 attached to the operator's hand 100 to obtain the position of the operator's hand 100; Information for performing rotation control of the motor unit 42 necessary for pulling and transmitting the force sense to the hand 100 at this position with the thread 43 is generated. The motor unit 42 is rotated with the generated information, and the operator's hand 100 is pulled with the thread 43 so that the force sense is transmitted to the operator's hand 100.

  Thus, when the virtual hand 72 displayed on the screen 20a strongly holds the virtual object 71 by the operation of the operator's hand 100, the operator's hand 100 is pressed by the movable unit 62 of the tactile sense presentation device 60. The operator can feel a tactile sensation similar to that when grasping a real object in his / her hand performing the operation. At the same time, the thread 43 of the force sense presentation device 40 pulls the hand 100 of the operator who is transmitting the tactile sense so that the force sense that is the reaction force of the gripping force is transmitted, which may cause the operator to feel the force sense. it can. Therefore, when the virtual hand 72 performs an operation of strongly grasping the virtual object 71, the operator can feel the tactile sensation and the force sense at the time of grasping with his / her hand performing this operation.

  Further, the total weight of the tactile sense presentation device 60 and the thread connection portion 44 is 2.1 g in combination with the rubber band 45 as a device for mounting both the tactile sense presentation device 60 and the thread connection portion 44 on the hand 100 of the operator. Less than.

  Accordingly, if the weight of the tactile sense presentation device 60 is less than 2.1 g in combination with the rubber band 45, the operator does not feel the weight with the fingertip, so that the operator can easily feel the tactile sense and the force sense with the fingertip. A sense of sensation can be felt appropriately, and good operability can be obtained. With respect to this operability, since the operator performs the operation by attaching the small and light tactile sense presentation device 60 and the rubber band 45 to which the thread connecting portion 44 is fixed to each fingertip, it is possible to obtain better operability. it can.

  In the present embodiment described above, the thread connecting portion 44 and the tactile sense presentation device 60 are attached to each fingertip with the rubber band 45, and the tactile controller 50 is attached to the wrist with the rubber band 51. The thread connection unit 44 and the tactile sense presentation device 60 may be fixed, and the tactile controller 50 may be fixed to the back side of the glove.

  The tactile controller 50 and the force controller 30 may be built in the computer 20. Further, the tactile controller 50 and the connector 52 may be connected by wireless communication instead of wired communication.

<Application example of embodiment>
FIG. 9 is a diagram showing a configuration of a robot operation system according to an application example using the force / tactile sensation presentation system of the embodiment of the present invention.
A robot operation system 12 shown in FIG. 9 includes the above-described force / tactile sense presentation system 10, a communication device 70, a relay device 80, and a robot 90.

  The communication device 70 is connected to the computer 20 by wired communication (or wireless communication). The communication device 70 transmits an operation control signal of the robot 90 generated by the computer 20 in response to the operation of the operator's hand 100 (see FIG. 2) via the relay device 80 to the robot 90 at a remote location (separated position). Wireless transmission to Further, the communication device 70 wirelessly receives a robot information signal including information such as an operation state from the robot 90 via the relay device 80 and transmits the received robot information signal to the computer 20.

  The relay device 80 relays an operation control signal and a robot information signal transmitted and received between the computer 20 and the robot 90 by wireless communication. Note that when the distance between the communication device 70 and the robot 90 is short, the relay device 80 is not necessary, and the communication device 70 and the robot 90 perform wireless communication directly. Further, in a place where the communication device 70 and the robot 90 are in a short distance and the radio wave environment such as noise interference is bad, the communication device 70 and the robot 90 may be connected by wire.

  The robot 90 is a humanoid robot and includes a body 91, both feet 92, both arms 93 and both hands 94, and a head 95, and transmits and receives radio waves to and from the relay device 80 on the head 95. An antenna 96 and a camera 98 as both eyes are provided. Both hands 94 are each provided with five fingers 97. In FIG. 9, only one foot 90b is shown, only two fingers 97 are shown, and only two cameras 98 corresponding to both eyes are shown. The hand 94 and the finger 97 of the robot 90 correspond to the “robot manipulator” recited in the claims.

  Although not shown, the robot 90 includes a mechanical mechanism including an actuator for moving both feet 90b, both hands 94 and fingers 97, the head 95, and the like in a state close to a human being. Furthermore, the robot 90 has a communication function, a sensor function, and a computer function (not shown).

  The mechanical mechanism causes the robot 90 to walk with both feet 90b like a human, operate both arms 93 with shoulder joints, move both hands 94, and grip an object 75 with five fingers 97. Make it. Here, it is assumed that the object 75 to be grasped is an egg-shaped rubber ball.

The communication function performs wireless transmission / reception with the relay device 80 via the antenna 96.
The sensor function detects the operating state of both feet 90b, both hands 94 and fingers 97 of the robot 90, the three-dimensional coordinate positions of both feet 90b, both hands 94 and fingers 97, etc. during this operation.

  The computer function controls the mechanical mechanism so that the robot 90 performs an operation according to the operation control signal received by the communication function via the antenna 96. Furthermore, the computer function controls the detection operation of the sensor function, the photographing operation of the camera 98, etc., and processes information obtained by these operations to generate a robot information signal.

  For example, when the robot 90 captures the rubber ball 75 with the finger 97 of one hand 94 with the camera 98, this state is displayed on the screen 20a of the computer 20 as shown in FIG. The This display is performed as follows. In the robot 90, video information captured by the camera 98 is generated by being superimposed on the robot information signal by a computer function, and this robot information signal is transmitted to the computer 20 via the relay device 80 and the communication device 70. In accordance with the video information of the robot information signal, the computer 20 displays a state where the rubber ball 75a is grasped with the finger 97a of the hand 94a on the screen 20a as shown in FIG.

  When the arm 93, the hand 94, the finger 97, and the rubber ball 75 of the robot 90 are displayed on the screen 20a as shown in FIGS. 10A and 10B, the arm 93a, the hand 94a, and the finger 97a are displayed. In addition, like a rubber ball 75a, a is added to the symbol to distinguish it from the actual one. In addition, the rubber ball 75 is an egg type and is solid with a rubber member filled therein.

  The operation when the robot 90 grips the rubber ball 75 with the finger 97 of the hand 94 as shown in FIG. 10A is performed as follows.

  As shown in FIG. 10A, the operator moves each finger (FIG. 2) of the hand 100 so that the finger 97a of the hand 94a displayed on the screen 20a grips the rubber ball 75a. In response to this, the computer 20 sends information such as motor information necessary for measuring the length of each thread 43 (FIG. 2) connected to each finger of the hand 100 performing the operation from the force sense presentation device 40. Obtained via the controller 30. The computer 20 measures the length of the thread 43 according to the acquired information, and calculates the three-dimensional coordinate position of each fingertip of the hand 100.

  The computer 20 generates an operation control signal including information on the calculated three-dimensional coordinate position, and transmits the operation control signal to the robot 90 via the communication device 70 and the relay device 80. The robot 90 is a computer function and controls to hold the finger 97 of the hand 94 according to the information of the three-dimensional coordinate position of the operation control signal. In accordance with this control, the mechanical mechanism moves so that the finger 97 of the hand 94 is gripped, and grips the rubber ball 75.

  At this time, images of the hand 94 and the finger 97 moved by the robot 90 are taken by the camera 98 and superimposed on the robot information signal, and then transmitted to the computer 20. As shown in FIG. 10A, the computer 20 displays the gripping operation by the finger 97a of the hand 94a on the screen 20a according to the imaging information of the robot information signal.

  The state of the gripping operation when the robot 90 grips the rubber ball 75 with the finger 97 of the hand 94 and the three-dimensional coordinate position of the finger 97 of the hand 94 at this time are also detected by the sensor function. These pieces of detection information are also superimposed on the robot information signal and transmitted from the robot 90 to the computer 20.

  The computer 20 uses information indicating a state in which the finger 97 of the hand 94 at the three-dimensional coordinate position included in the robot information signal grips the rubber ball 75 (referred to as robot gripping operation information), and uses the fingertip of the operator's hand 100. In addition, tactile sensation presentation information for transmitting the tactile sensation at the time of grasping is obtained. This is because when the computer 20 detects from the robot gripping operation information that the robot 90 grips the rubber ball 75 with the finger 97 of the hand 94, the computer 20 obtains tactile sensation presentation information as in the above-described embodiment. is there. This tactile sensation presentation information is information for allowing a current of, for example, 0.8 A to flow through the coil 63 of the movable part 62 of the haptic presentation device 60. The tactile presentation information signal is output from the computer 20 to the tactile controller 50.

  The tactile controller 50 converts the tactile presentation information signal into a tactile presentation signal by PWM and outputs it to the tactile presentation device 60. A current is supplied to the coil 63 {FIG. 4B} of the haptic presentation device 60 in accordance with the output haptic presentation signal. Due to the electromagnetic induction action according to the supply of current, the movable part 62 {FIG. 4B} of the tactile sense presentation device 60 moves upward, and the tip of the pointed member 62b presses the fingertip of each finger. By this pressing, the calculated tactile sensation is transmitted to each fingertip of the operator. Thereby, the operator can feel the sense of touch when the finger 97 of the hand 94 of the robot 90 grips the rubber ball 75 to each finger of his / her hand 100.

  Thereafter, as shown in FIG. 10B, it is assumed that the robot 90 grips the rubber ball 75 with the finger 97 of the hand 94 even more strongly. This operation is performed as follows.

  The operator observes how the finger 97a of the hand 94a displayed on the screen 20a shown in FIG. 10A grips the rubber ball 75a, and holds each finger of the hand 100 so as to grip the rubber ball 75a more strongly. Move (Figure 2). In response to this, the computer 20 sends information such as motor information necessary for measuring the length of each thread 43 (FIG. 2) connected to each finger of the hand 100 performing the operation from the force sense presentation device 40. Obtained via the controller 30. The computer 20 measures the length of the thread 43 according to the acquired information, and calculates the three-dimensional coordinate position of each fingertip of the hand 100.

  The computer 20 generates an operation control signal including information on the calculated three-dimensional coordinate position, and transmits the operation control signal to the robot 90 via the communication device 70 and the relay device 80. The robot 90 is a computer function, and controls to hold the finger 97 of the hand 94 more strongly according to the information of the three-dimensional coordinate position of the operation control signal. In response to this control, the mechanical mechanism moves so that the finger 97 of the hand 94 grips more strongly, and grips the rubber ball 75 more strongly.

  At this time, images of the hand 94 and the finger 97 moved by the robot 90 are taken by the camera 98 and superimposed on the robot information signal, and then transmitted to the computer 20. As shown in FIG. 10B, the computer 20 displays a strong gripping operation by the finger 97a of the hand 94a on the screen 20a according to the imaging information of the robot information signal.

  In addition, the state of the gripping operation when the robot 90 grips the rubber ball 75 more strongly with the finger 97 of the hand 94 and the three-dimensional coordinate position of the finger 97 of the hand 94 at this time are also detected by the sensor function. These pieces of detection information are also superimposed on the robot information signal and transmitted from the robot 90 to the computer 20.

  The computer 20 uses the robot gripping operation information included in the robot information signal, and the reaction of the finger 97 of the hand 94 received from the rubber ball 75 when the finger 97 of the hand 94 of the robot 90 grips the rubber ball 75 more strongly. Seeking power. That is, the computer 20 obtains the relative position of the finger 97 of the hand 94 that bites into the rubber ball 75 with respect to the reference surface position of the rubber ball 75. Then, the computer 20 obtains a reaction force using the elastic coefficient of the rubber ball 75 as the deformation amount of the virtual object according to the relative position.

  Next, the computer 20 obtains the obtained reaction force as the torque of each motor part 42 necessary for pulling and transmitting the obtained reaction force to each fingertip of the operator with the thread 43. This torque information is output to the force sense controller 30 as force sense presentation information.

  The haptic controller 30 converts the haptic presentation information signal into a haptic presentation signal by PWM and outputs it to the haptic presentation device 40.

  Then, the force sense presentation device 40 pulls each fingertip of the operator's hand 100 with the thread 43 by causing the predetermined motor unit 42 to rotate forward or reverse with a necessary torque in accordance with the force sense presentation signal, and the reaction force Force sense corresponding to is transmitted to the fingertip. As a result, as shown in FIG. 10B, the operator applies the reaction force when the finger 97a of the hand 94a of the robot 90 grips the rubber ball 75a more strongly to each fingertip of the hand 100 on the screen 20a. feel.

  Such an operation with each finger of the operator's hand 100, the operation of the finger 97 of the hand 94 of the robot 90 in response to this operation, and the sense of touch and force to each fingertip of the operator's hand 100 in response to this operation The sense transmission is sequentially executed between the computer 20 and the robot 90 by transmitting / receiving an operation control signal and a robot information signal for each operation or operation.

  In the robot 90, the movement of the finger 97 of the hand 94 is taken by the camera 98 mounted as the eyes of the robot 90. However, the external camera is placed at a position away from the robot 90. May be. In this case, information captured by the external camera is wirelessly transmitted to the robot 90 and processed by an internal computer function.

  According to the robot operation system 12 of the application example using the force / tactile sensation presentation system 10 of the present embodiment as described above, the following operational effects can be obtained.

  It is assumed that the operator is remotely operating the movement of the finger 97 of the hand 94 of the robot 90 while looking at the finger 97 of the hand 94 as the manipulator of the remote robot 90 displayed on the screen 20a of the computer 10. At this time, it is assumed that the operator holds the rubber ball 75 as a real object near the finger 97 of the hand 94 displayed on the screen 20a on the finger 97 of the hand 94 by remote control. At this time, the operator can simultaneously feel the tactile sensation and the force sensation at the time of gripping.

  In addition, about a concrete structure, it can change suitably in the range which does not deviate from the main point of this invention. The thread connection portion 44 of the tactile sense presentation device 60 and the force sense presentation device 40 fixed to the rubber band 45 shown in FIG. 2 is attached to each finger of the foot with the rubber band 45 instead of each finger of the operator's hand 100. May be. In this case, the range of application can be expanded, such as allowing a person who cannot be operated by hand to operate with a foot.

DESCRIPTION OF SYMBOLS 10 Force tactile sense presentation system 12 Robot operation system 20 Computer 20a Screen 30 Force sense controller 30a Motor part wiring 30b Cable wiring 40 Force sense presentation apparatus 41 Frame 42a-42x Motor part 43 String 45 Rubber band 50 Tactile sense controller 50a, 50b Cable wiring 51 Rubber band 50c-50g Wiring 60 Tactile sense presentation device 61 Bobbin 61a Cylindrical portion 61a1 Opening of cylindrical portion 61b First annular plate 61c Second annular plate 61d Lid 61b1 Opening of first annular plate 62 Movable portion 62a Magnet 62b Pointer 63 Coil 70 Communication Device 71 Virtual Object (Rubber Ball)
72 Virtual Hand 75 Object (Rubber Ball)
80 relay device 90 robot 91 body 92 foot 93 arm 94 hand 97 finger 95 head 96 antenna 98 camera 100 operator's hand 100a thumb 100b index finger

Claims (10)

A tactile sensation when a display object displayed on the screen is gripped by the display hand displayed by the control of the arithmetic processing means for performing arithmetic and control processing, and the operation of the display hand is linked with the control of the arithmetic processing means. In the tactile sense presentation device that sensiblely communicates to the operator's hand operating while
A bobbin having a cylindrical shape, with one end closed and a concave inside;
A coil formed by winding a conductive wire around the bobbin;
A movable part that is movably disposed inside the concave shape of the bobbin, and has a pointed member with the tip facing the opening side of the bobbin that is integrally fixed to the magnet.
A current is supplied to the coil when the display hand grips the display object by the operation of the operator with the bobbin mounted so that the opening of the bobbin is in contact with the hand of the operator. The tip of the movable part that moves due to the electromagnetic induction generated by the supply protrudes from the opening of the bobbin and presses the operator's hand so that the operator feels the tactile sensation. Tactile presentation device. The sharp member has a curvature radius of 0 mm to 1.8 mm at the tip of the sharp member,
The current value supplied to the coil is such that the tip of the pointed member having a radius of curvature of 0 mm to 1.8 mm is the operator's movement due to the movement of the movable part when the current of the current value is supplied to the coil. The tactile sensation presentation apparatus according to claim 1, wherein the tactile sensation presentation apparatus has a size that allows the operator to feel the tactile sensation when the hand is pressed.   3. The tactile sense presentation device according to claim 1, wherein a current value supplied to the coil is decreased as a radius of curvature of a tip of the sharp member is decreased.   The movable portion is configured such that when the opening of the bobbin is directed downward, the operator reduces the weight of the movable portion when the tip of the pointed member is placed on the operator's hand by gravity. The tactile sensation presentation device according to claim 1, wherein the tactile sensation presentation device has a weight that is not felt.   The tactile sensation device according to any one of claims 1 to 4, wherein a weight of the tactile sensation presentation device is less than 2.1 g together with a device for mounting the tactile sensation presentation device on the hand of the operator. Presentation device.   6. The display object and the display hand are a virtual object and a virtual hand drawn in a virtual reality space by drawing control of the arithmetic processing unit. Tactile presentation device.   The display hand displays a manipulator of a robot in a separated position where the operator is operating with his / her hand and the arithmetic processing unit performs operation control via a communication device, and the display object is gripped by the manipulator The tactile sensation presentation device according to claim 1, wherein a real object to be displayed is displayed. A tactile presentation device according to any one of claims 1 to 7,
A force sense that is a reaction force of a gripping force when the display object displayed on the screen by the control of the arithmetic processing unit that controls the operation of the tactile sense presenting device is gripped by the display hand, A force / tactile sensation presentation system comprising: a force / tactile sensation presentation device that transmits the information to a hand of an operator who operates the device in cooperation with the control of the arithmetic processing unit. The force sense presentation device includes:
A plurality of motors whose rotation is controlled by the arithmetic processing means according to the operation;
A thread attached to the motor such that its length expands and contracts in accordance with the normal rotation or reverse rotation of the motor;
A thread connecting portion to which a thread extending from at least one of the motors is connected;
The thread connecting portion and the tactile sense presentation device are attached to the operator's hand through one appliance,
When the display object is gripped by the display hand, the arithmetic processing means measures the lengths of a plurality of threads bundled at the thread connecting portion attached to the operator's hand, and The position of the operator's hand is obtained, information for performing rotation control of the motor necessary for pulling and transmitting the force sense to the hand at this position is generated, and the motor is The force / tactile sensation presentation system according to claim 9, wherein the force / tactile sense presentation system is rotated and the operator's hand is pulled by the thread so that the force sense is transmitted to the operator's hand.   The total weight of the tactile sensation presentation device and the thread connection portion is less than 2.1 g in combination with an appliance for mounting both the tactile presentation device and the thread connection portion on the operator's hand. The force tactile sense presentation system according to claim 9.

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